The Experts below are selected from a list of 981 Experts worldwide ranked by ideXlab platform

Kam K. Leang - One of the best experts on this subject based on the ideXlab platform.

  • Dynamic underactuated Flying-walking (DUCK) robot
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    Co-Authors: Christopher J. Pratt, Kam K. Leang
    Abstract:

    This paper describes the development of a Flying and walking robot, called the dynamic underactuated Flying-walking (DUCK) robot. The DUCK robot combines a high-mobility Flying Platform, such as a quadcopter (quadrotor helicopter), with passive-dynamic legs to create a versatile system that can fly and walk. One of the advantages of passive-dynamic legs for walking is that additional actuators are not needed for terrestrial locomotion. Herein, a mathematical model is presented and simulations are used to help design a prototype robot. Experimental results demonstrate the feasibility of combining an aerial Platform with passive-dynamic legs to create an effective Flying and walking robot. In particular, two modes of walking are demonstrated: (1) passive walking down inclined surfaces for low-energy terrestrial locomotion, and (2) active (powered) walking by leveraging the capabilities of the Flying Platform, where thrust from the quadcopter's rotors enables the DUCK robot to take steps and walk on flat surfaces or up inclined surfaces.

  • ICRA - Dynamic underactuated Flying-walking (DUCK) robot
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    Co-Authors: Christopher J. Pratt, Kam K. Leang
    Abstract:

    This paper describes the development of a Flying and walking robot, called the dynamic underactuated Flying-walking (DUCK) robot. The DUCK robot combines a high-mobility Flying Platform, such as a quadcopter (quadrotor helicopter), with passive-dynamic legs to create a versatile system that can fly and walk. One of the advantages of passive-dynamic legs for walking is that additional actuators are not needed for terrestrial locomotion. Herein, a mathematical model is presented and simulations are used to help design a prototype robot. Experimental results demonstrate the feasibility of combining an aerial Platform with passive-dynamic legs to create an effective Flying and walking robot. In particular, two modes of walking are demonstrated: (1) passive walking down inclined surfaces for low-energy terrestrial locomotion, and (2) active (powered) walking by leveraging the capabilities of the Flying Platform, where thrust from the quadcopter's rotors enables the DUCK robot to take steps and walk on flat surfaces or up inclined surfaces.

Mazen O. Hasna - One of the best experts on this subject based on the ideXlab platform.

  • An Efficient Algorithm for Dense Network Flow Maximization with Multihop Backhauling and NFPs
    2019 IEEE 90th Vehicular Technology Conference (VTC2019-Fall), 2019
    Co-Authors: Abdullateef Almohamad, Tamer Khattab, Mazen O. Hasna, Mohamed Haouari
    Abstract:

    Network densification is promising to achieve higher data rates and higher network capacity, while causing new backhauling challenges especially when the network is highly dense. The flexible and cost efficient backhauling solutions are among the most concerning issues. Due to the high density of the next generation networks, the terrestrial wired backhauling approaches are not cost efficient. Having this challenge in hand, and recognizing the advantages of the networked Flying Platform (NFP)-enabled communications, we address in this paper the problem of wireless multi-hop backhauling of small cells (SC) using NFP hubs. We propose an efficient iterative heuristic algorithm that jointly optimize the SCNFP association and the SC-SC formation in order to maximize the total backhaul flow, with practical constraints in consideration, such as backhaul reliability, hardware and processing limitations in the SCs and the NFPs. Numerical simulations show that the proposed algorithm can achieve close to optimal solution at a much faster convergence rate.

  • VTC-Fall - Physical Layer Security Analysis of UAV Based Communication Networks
    2018 IEEE 88th Vehicular Technology Conference (VTC-Fall), 2018
    Co-Authors: Aymen Omri, Mazen O. Hasna
    Abstract:

    In this paper, we investigate the communication security in aerial wiretap channels, where a network Flying Platform (NFP) wishes to send information to a legitimate destination, in the presence of multiple eavesdroppers. The stochastic geometry is used to describe the eavesdroppers' locations, with a given density, and in a specific environment. Based on that, we derive the secrecy outage probability expression for a standard aerial communication network with a single eavesdropper. Then, we evaluate the physical layer security of a standard and a beamforming based aerial communication systems in the presence of multiple eavesdroppers. Monte Carlo simulations are conducted to confirm and discuss the analytical results. These results show that the physical layer security in aerial wiretap channels is essentially affected by the altitude of the NFP, the eavesdroppers' density, and the type of environment.

  • 3-D Placement Schemes of Multiple UAVs in NFP-based Wireless Networks
    2018 5th International Conference on Information and Communication Technologies for Disaster Management (ICT-DM), 2018
    Co-Authors: Aymen Omri, Muhammad Zeeshan Shakir, Mazen O. Hasna, Mohammed Shaqfeh
    Abstract:

    In this paper, we propose two placement strategies of multiple unmanned aerial vehicles (UAVs) in network Flying Platform (NFP)-based wireless networks. The first strategy is based on a proposed distributed placement algorithm (DPA) that can be executed by the collaboration of the users and a high altitude controlling NFP (mother UAV). The second strategy uses a proposed centric placement algorithm (CPA) at the mother UAV to define the number and optimal placement of the needed UAVs. For the system model, a Matérn Cluster Process (MCP) is used to describe the users' location in realistic scenarios. Based on that, we detail the proposed algorithms, and we derive the corresponding number expressions of the needed UAVs. Numerical results are used to confirm the derived expression and to evaluate the proposed 3-D placement strategies.

  • Physical Layer Security Analysis of UAV Based Communication Networks
    2018 IEEE 88th Vehicular Technology Conference (VTC-Fall), 2018
    Co-Authors: Aymen Omri, Mazen O. Hasna
    Abstract:

    In this paper, we investigate the communication security in aerial wiretap channels, where a network Flying Platform (NFP) wishes to send information to a legitimate destination, in the presence of multiple eavesdroppers. The stochastic geometry is used to describe the eavesdroppers' locations, with a given density, and in a specific environment. Based on that, we derive the secrecy outage probability expression for a standard aerial communication network with a single eavesdropper. Then, we evaluate the physical layer security of a standard and a beamforming based aerial communication systems in the presence of multiple eavesdroppers. Monte Carlo simulations are conducted to confirm and discuss the analytical results. These results show that the physical layer security in aerial wiretap channels is essentially affected by the altitude of the NFP, the eavesdroppers' density, and the type of environment.

  • a distributed approach for networked Flying Platform association with small cells in 5g networks
    Global Communications Conference, 2017
    Co-Authors: Syed Awais Wahab Shah, Tamer Khattab, Muhammad Zeeshan Shakir, Mazen O. Hasna
    Abstract:

    The densification of small cell base stations in a 5G architecture is a promising approach to enhance the coverage area and facilitate the ever increasing capacity demand of end users. However, the bottleneck is an intelligent management of a backhaul/fronthaul network for these small cell base stations. This involves efficient association and placement of the backhaul hubs that connects these small-cells with the core network. Terrestrial hubs suffer from an inefficient non line of sight link limitations and unavailability of a proper infrastructure in an urban area. Realizing the popularity of Flying Platforms, we employ here an idea of using networked Flying Platform (NFP) such as unmanned aerial vehicles (UAVs), drones, unmanned balloons Flying at different altitudes, as aerial backhaul hubs. The association problem of these NFP-hubs and small- cell base stations is formulated considering backhaul link and NFP related limitations such as maximum number of supported links and bandwidth. We then present an efficient and distributed solution of the designed problem, which performs a greedy search in order to maximize the sum rate of the overall network. A favorable performance is observed via a numerical comparison of our proposed method with optimal exhaustive search algorithm in terms of sum rate and run-time speed.

Christopher J. Pratt - One of the best experts on this subject based on the ideXlab platform.

  • Dynamic underactuated Flying-walking (DUCK) robot
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    Co-Authors: Christopher J. Pratt, Kam K. Leang
    Abstract:

    This paper describes the development of a Flying and walking robot, called the dynamic underactuated Flying-walking (DUCK) robot. The DUCK robot combines a high-mobility Flying Platform, such as a quadcopter (quadrotor helicopter), with passive-dynamic legs to create a versatile system that can fly and walk. One of the advantages of passive-dynamic legs for walking is that additional actuators are not needed for terrestrial locomotion. Herein, a mathematical model is presented and simulations are used to help design a prototype robot. Experimental results demonstrate the feasibility of combining an aerial Platform with passive-dynamic legs to create an effective Flying and walking robot. In particular, two modes of walking are demonstrated: (1) passive walking down inclined surfaces for low-energy terrestrial locomotion, and (2) active (powered) walking by leveraging the capabilities of the Flying Platform, where thrust from the quadcopter's rotors enables the DUCK robot to take steps and walk on flat surfaces or up inclined surfaces.

  • ICRA - Dynamic underactuated Flying-walking (DUCK) robot
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    Co-Authors: Christopher J. Pratt, Kam K. Leang
    Abstract:

    This paper describes the development of a Flying and walking robot, called the dynamic underactuated Flying-walking (DUCK) robot. The DUCK robot combines a high-mobility Flying Platform, such as a quadcopter (quadrotor helicopter), with passive-dynamic legs to create a versatile system that can fly and walk. One of the advantages of passive-dynamic legs for walking is that additional actuators are not needed for terrestrial locomotion. Herein, a mathematical model is presented and simulations are used to help design a prototype robot. Experimental results demonstrate the feasibility of combining an aerial Platform with passive-dynamic legs to create an effective Flying and walking robot. In particular, two modes of walking are demonstrated: (1) passive walking down inclined surfaces for low-energy terrestrial locomotion, and (2) active (powered) walking by leveraging the capabilities of the Flying Platform, where thrust from the quadcopter's rotors enables the DUCK robot to take steps and walk on flat surfaces or up inclined surfaces.

Aymen Omri - One of the best experts on this subject based on the ideXlab platform.

  • VTC-Fall - Physical Layer Security Analysis of UAV Based Communication Networks
    2018 IEEE 88th Vehicular Technology Conference (VTC-Fall), 2018
    Co-Authors: Aymen Omri, Mazen O. Hasna
    Abstract:

    In this paper, we investigate the communication security in aerial wiretap channels, where a network Flying Platform (NFP) wishes to send information to a legitimate destination, in the presence of multiple eavesdroppers. The stochastic geometry is used to describe the eavesdroppers' locations, with a given density, and in a specific environment. Based on that, we derive the secrecy outage probability expression for a standard aerial communication network with a single eavesdropper. Then, we evaluate the physical layer security of a standard and a beamforming based aerial communication systems in the presence of multiple eavesdroppers. Monte Carlo simulations are conducted to confirm and discuss the analytical results. These results show that the physical layer security in aerial wiretap channels is essentially affected by the altitude of the NFP, the eavesdroppers' density, and the type of environment.

  • 3-D Placement Schemes of Multiple UAVs in NFP-based Wireless Networks
    2018 5th International Conference on Information and Communication Technologies for Disaster Management (ICT-DM), 2018
    Co-Authors: Aymen Omri, Muhammad Zeeshan Shakir, Mazen O. Hasna, Mohammed Shaqfeh
    Abstract:

    In this paper, we propose two placement strategies of multiple unmanned aerial vehicles (UAVs) in network Flying Platform (NFP)-based wireless networks. The first strategy is based on a proposed distributed placement algorithm (DPA) that can be executed by the collaboration of the users and a high altitude controlling NFP (mother UAV). The second strategy uses a proposed centric placement algorithm (CPA) at the mother UAV to define the number and optimal placement of the needed UAVs. For the system model, a Matérn Cluster Process (MCP) is used to describe the users' location in realistic scenarios. Based on that, we detail the proposed algorithms, and we derive the corresponding number expressions of the needed UAVs. Numerical results are used to confirm the derived expression and to evaluate the proposed 3-D placement strategies.

  • Physical Layer Security Analysis of UAV Based Communication Networks
    2018 IEEE 88th Vehicular Technology Conference (VTC-Fall), 2018
    Co-Authors: Aymen Omri, Mazen O. Hasna
    Abstract:

    In this paper, we investigate the communication security in aerial wiretap channels, where a network Flying Platform (NFP) wishes to send information to a legitimate destination, in the presence of multiple eavesdroppers. The stochastic geometry is used to describe the eavesdroppers' locations, with a given density, and in a specific environment. Based on that, we derive the secrecy outage probability expression for a standard aerial communication network with a single eavesdropper. Then, we evaluate the physical layer security of a standard and a beamforming based aerial communication systems in the presence of multiple eavesdroppers. Monte Carlo simulations are conducted to confirm and discuss the analytical results. These results show that the physical layer security in aerial wiretap channels is essentially affected by the altitude of the NFP, the eavesdroppers' density, and the type of environment.

Daniela Rus - One of the best experts on this subject based on the ideXlab platform.

  • energy efficient autonomous four rotor Flying robot controlled at 1 khz
    International Conference on Robotics and Automation, 2007
    Co-Authors: D Gurdan, J Stumpf, Michael Achtelik, K M Doth, Gerd Hirzinger, Daniela Rus
    Abstract:

    We describe an efficient, reliable, and robust four-rotor Flying Platform for indoor and outdoor navigation. Currently, similar Platforms are controlled at low frequencies due to hardware and software limitations. This causes uncertainty in position control and unstable behavior during fast maneuvers. Our Flying Platform offers a 1 kHz control frequency and motor update rate, in combination with powerful brushless DC motors in a light-weight package. Following a minimalistic design approach this system is based on a small number of low-cost components. Its robust performance is achieved by using simple but reliable highly optimized algorithms. The robot is small, light, and can carry payloads of up to 350g